Add code to analyze experiments

index.org

@@ -50,24 +50,58 @@
   <<matlab-init>>
 #+end_src
 
-* Parameters
+* Setup
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/setup_experiment.m
+:header-args:matlab+: :comments org :mkdirp yes
+:END:
+
+** Parameters
 #+begin_src matlab
   Ts = 1e-4;
 #+end_src
 
-* Filter White Noise
+** Filter White Noise
 #+begin_src matlab
   Glpf = 1/(1 + s/2/pi/500);
 
   Gz = c2d(Glpf, Ts, 'tustin');
 #+end_src
 
-* Load Data
+* Run Experiment and Save Data
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/run_experiment.m
+:header-args:matlab+: :comments org :mkdirp yes
+:END:
+
+** Load Data
 #+begin_src matlab
-  data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml_5kg.dat').data;
+  data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
 #+end_src
 
-* Time Domain Data
+** Save Data
+#+begin_src matlab
+  u = data(:, 1); % Input Voltage [V]
+  y = data(:, 2); % Output Displacement [m]
+  t = data(:, 3); % Time [s]
+#+end_src
+
+#+begin_src matlab
+  save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');
+#+end_src
+
+* Huddle Test
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/huddle_test.m
+:header-args:matlab+: :comments org :mkdirp yes
+:END:
+
+** Load Data
+#+begin_src matlab
+  load('./mat/huddle_test.mat', 't', 'u', 'y');
+#+end_src
+
+** Time Domain Data
 #+begin_src matlab
   figure;
 
@@ -81,7 +115,34 @@
   ylabel('Output Displacement [m]'); xlabel('Time [s]');
 #+end_src
 
-* Compute TF estimate and Coherence
+** PSD of Measurement Noise
+
+* Transfer Function Estimation with m=5kg
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/tf_estimation.m
+:header-args:matlab+: :comments org :mkdirp yes
+:END:
+
+** Load Data
+#+begin_src matlab
+  load('./mat/huddle_test.mat', 't', 'u', 'y');
+#+end_src
+
+** Time Domain Data
+#+begin_src matlab
+  figure;
+
+  subplot(1,2,1);
+  plot(data(:, 3), data(:, 1))
+  ylabel('Input Voltage [V]'); xlabel('Time [s]');
+
+
+  subplot(1,2,2);
+  plot(data(:, 3), data(:, 2))
+  ylabel('Output Displacement [m]'); xlabel('Time [s]');
+#+end_src
+
+** Compute TF estimate and Coherence
 #+begin_src matlab
   win = hann(ceil(1/Ts));
 
@@ -89,7 +150,7 @@
   [co_est, ~] = mscohere(  data(:, 1), -data(:, 2), win, [], [], 1/Ts);
 #+end_src
 
-* Coherence
+** Coherence
 #+begin_src matlab
   figure;
 
@@ -100,7 +161,7 @@
   hold off;
 #+end_src
 
-* Transfer Function
+** Transfer Function
 #+begin_src matlab
   figure;
   ax1 = subplot(2, 1, 1);